The Centurions are defending just 221 after being rolled inside 55 overs at Hillcrest Lower Oval last weekend.
The home side is 3-103 heading into day two.
Joondalup skipper Michael Swart produced a crucial captain’s knock of 86 as his top-order teammates struggled to make runs.
The Netherlands representative struck 14 fours and a six during his run-a-ball innings.
Dangerous spinner Liam O’Connor, who took 6-75, eventually had Swart caught behind by wicket keeper Sam Baird.
Clinton Hinchcliffe scored 39, while Ty Hopes provided a helpful 34 in the lower order.
WA bowler Nathan Rimmington dismissed Joondalup openers Garrick Morgan and James Newnham on his way to 2-55.
Joondalup will be looking to claim the early wicket of Bayswater-Morley opener Mitchell Todd, who takes to the crease on 69 with Jake Lewis (12) when play resumes.
Leg-spin bowler Hopes will be hoping the pitch condition remains tweaker-friendly, having taken two of Joondalup’s three wickets.